CN108466550B - Can carry on frame assembly of multiple detection rescue platform - Google Patents
Can carry on frame assembly of multiple detection rescue platform Download PDFInfo
- Publication number
- CN108466550B CN108466550B CN201810178756.3A CN201810178756A CN108466550B CN 108466550 B CN108466550 B CN 108466550B CN 201810178756 A CN201810178756 A CN 201810178756A CN 108466550 B CN108466550 B CN 108466550B
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- rescue
- steering
- swing arm
- suspension system
- balance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/342—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having a longitudinal, endless element, e.g. belt or chain, for transmitting drive to wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/16—Arrangement of linkage connections
Abstract
The invention relates to rescue mechanical equipment, in particular to a frame assembly capable of carrying various detection and rescue platforms. Comprises a chassis, a driving device, a steering device, a front suspension system, a rear suspension system and a balance leg, wherein the driving device, the steering device, the front suspension system, the rear suspension system and the balance leg are arranged on the chassis; the driving device and the transmission device are arranged on the edge of the chassis to reserve a space for placing the rescue platform; the balance support legs provide stable support for the rescue platform carried on the frame, and can horizontally or vertically stretch out and draw back, so that the rescue vehicle can conveniently park on uneven ground. The road condition has strong cross-country capability and can adapt to field complex road conditions; different rescue platforms can be carried according to actual conditions for rescue; the balance support legs can also enable the rescue vehicle to park on uneven ground, links such as ground surface cleaning and rescue equipment installation are reduced, precious time is won for rescue, and rescue efficiency is improved; meanwhile, a large amount of manpower and material resources are saved, the rescue success rate is improved, and casualties and property loss are reduced.
Description
Technical Field
The invention relates to rescue mechanical equipment, in particular to a frame assembly capable of carrying various detection and rescue platforms.
Background
With the rapid development of economy, in more and more engineering construction, dangerous areas such as deep wells and holes need to be detected or rescued. The construction is carried out in rare areas, the production and living conditions are limited, the road conditions are complex, the cross-country capability of on-site rescue equipment is poor, the function is single, multiple purposes of one mechanical device cannot be realized, the on-site movement or conversion of the operation surface is difficult, and the requirements of on-site multiple operations cannot be met. After an accident happens, once the rescue equipment cannot meet the rescue requirement, the rescue equipment needs to be dispatched from different places, so that the optimal rescue time is missed; in addition, in areas with complex environment and bad road conditions, ordinary rescue equipment is difficult to enter rescue areas to rescue.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a frame assembly capable of carrying various detection and rescue platforms. The cross-country capability is strong, various detection and rescue platforms can be carried, and detection and rescue tasks can be implemented by selecting the rescue platform to be carried according to actual conditions; the rescue time is strived for, the rescue success rate is improved, and casualties and property loss are reduced.
In order to achieve the purpose, the invention adopts the following technical scheme:
a frame assembly capable of carrying various detection and rescue platforms is provided, and the size of the frame is 3500mm multiplied by 2200mm, and the wheelbase 2800 mm. Comprises a chassis, a driving device, a steering device, a front suspension system, a rear suspension system and a balance leg, wherein the driving device, the steering device, the front suspension system, the rear suspension system and the balance leg are arranged on the chassis; the driving device and the transmission device are arranged on the edge of the chassis to reserve a space for placing the rescue platform; the balance support legs provide stable support for the rescue platform carried on the frame, and can horizontally or vertically stretch out and draw back, so that the rescue vehicle can conveniently park on uneven ground.
The driving device consists of a speed reducing motor, a short transmission belt, a main transmission shaft, a long transmission belt, a differential output shaft, a universal joint, a connector and wheels. The speed reduction motor is used as a power source, the main transmission shaft is driven to rotate through the short transmission belt, the main transmission shaft transmits power to the differential mechanism through the long transmission belt, and the output shaft of the differential mechanism transmits the power to the four wheels respectively to form a four-wheel drive power structure. The universal joints are arranged at the two ends of the output shaft of the differential and matched with a suspension system, so that the independent shock-proof effect of each wheel can be realized. The differential output shaft is connected with the wheels through a connector. The rescue frame four-wheel drive can be realized through the mode, the frame has more sufficient power, and meanwhile, the cross-country capacity of the frame is also enhanced.
The steering device consists of a steering gear, a knuckle arm pull rod, a steering knuckle arm, a steering rocker arm, a rocker arm pull rod, a steering pull rod and a steering cup. The left steering knuckle arm and the left steering rocker arm are of an integrated structure, so that when the steering gear pushes and pulls the steering knuckle arm to rotate, the left rocker arm rotates along with the steering knuckle arm. The steering rocker arms on the two sides are connected through rocker arm pull rods to realize synchronous swinging, and the steering cup is driven to swing left and right through the steering pull rods to further realize a steering function. The joint of the steering cup and the front upper swing arm and the front lower swing arm is of a ball head structure, and the independent shock absorption function can be realized while steering.
The front suspension system consists of a front upper swing arm, a front lower swing arm, a steering cup and an oil pressure shock absorber. The inner sides of the front upper swing arm and the front lower swing arm are hinged with the frame, the outer sides of the front upper swing arm and the front lower swing arm are in contact with the steering cup ball, and two fixed ends of the oil pressure shock absorber are in contact with the frame and the front lower swing arm ball respectively, so that the independent shock absorption function of the front wheel is realized.
The rear suspension system is composed of a rear lower swing arm, a rear swing arm pull rod, a rear wheel cup and an oil pressure shock absorber. The inner sides of the rear lower swing arm and the rear swing arm pull rod are hinged with the frame, the outer sides of the rear lower swing arm and the rear swing arm pull rod are in contact with the rear wheel cup ball, and two fixed ends of the oil pressure shock absorber are in contact with the frame and the front lower swing arm ball respectively, so that the independent shock absorption function of the rear wheel is realized.
The balance supporting leg is composed of a speed reduction motor, a lead screw nut, a balance supporting leg shell, a gear, an upper rack telescopic rod, a lower rack telescopic rod, a vertical telescopic rod, supporting legs, a limit switch and a leveling device. Gear motor drives the gear rotation, and gear and upper and lower rack telescopic link intermeshing realize the flexible of balanced landing leg horizontal direction around through gear motor's clockwise or anticlockwise rotation.
When the supporting legs extend to touch the limit switch, the supporting legs stop extending outwards, and the supporting legs retract to the limit switch and stop retracting. Vertical telescopic link and screw nut mechanical connection become an organic whole structure, drive the vertical flexible of balanced landing leg of lead screw clockwise or anticlockwise rotation realization through gear motor.
And a limit switch is arranged at the limit position of the vertical extension of the supporting leg, and the supporting leg automatically stops acting when extending to the limit position. The leveling device is integrated in the central control system, and can respectively adjust the vertical extending amount of the four supporting legs according to the current state of the vehicle body, so that the vehicle body is kept horizontal, and the stability of the rescue equipment is ensured. Vertical telescopic link and stabilizer blade are bulb structural connection, make the stabilizer blade more nimble, the complicated topography of adaptation that can be better.
Compared with the prior art, the invention has the beneficial effects that:
(1) the frame assembly places the driving device and the transmission device on the side surface of the chassis, so that enough space is reserved for the frame chassis, and different detection and rescue equipment can be conveniently carried;
(2) the invention is four-wheel drive, independent shock-proof, strong cross-country ability, can enter the complicated landform area to carry on the detection and rescue task;
(3) the balance support legs can provide stable support for the frame, and the rescue equipment is guaranteed to work stably;
(4) the invention can carry operation platforms with different functions according to the actual requirements of actual detection or rescue tasks; the multifunctional rescue robot has multiple purposes, the rescue flow is simplified, the rescue time is saved, and the rescue efficiency is improved.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of the driving device of the present invention;
FIG. 3 is a perspective view of the steering apparatus of the present invention;
FIG. 4 is a schematic sectional view of a connecting structure of a steering cup and a swing arm according to the present invention;
FIG. 5 is a schematic perspective view of a front suspension system of the present invention;
FIG. 6 is a schematic perspective view of a rear suspension system of the present invention;
FIG. 7 is a schematic perspective view of a balance leg according to the present invention;
figure 8 is a schematic cross-sectional view of the balance leg construction of the present invention.
In the figure: 1-driving part 2-steering part 3-rear suspension system 4-balance leg 5-front suspension system 6-speed reduction motor 7-short transmission belt 8-main transmission shaft 9-long transmission belt 10-differential 11-universal joint 12-differential output shaft 13-adapter 14-wheel 15-steering gear 16-knuckle arm pull rod 17-steering knuckle arm 18-steering rocker arm 19-rocker arm pull rod 20-steering pull rod 21-steering cup 22-front upper swing arm 23-front lower swing arm 24-oil pressure shock absorber 25-rear lower swing arm 26-rear swing arm pull rod 27-rear wheel cup 28-upper rack telescopic rod 29-balance leg shell 30-horizontal telescopic limit switch 31-vertical telescopic speed reduction motor 32-a lead screw 33-a vertical telescopic rod 34-a leveling device 35-a horizontal telescopic speed reducing motor 36-a support leg 37-a lower rack telescopic rod 38-a gear 39-a vertical telescopic limit switch 40-a lead screw nut.
Detailed Description
The following further illustrates embodiments of the invention, but is not intended to limit the scope thereof:
a frame assembly capable of carrying various detection and rescue platforms is provided, and the size of the frame is 3500mm multiplied by 2200mm, and the wheelbase 2800 mm.
As shown in fig. 1, the present invention comprises a driving device 1, a steering device 2, a front suspension system 5, a rear suspension system 3, and a balance leg 4, all of which are mounted on a chassis to form an integral frame structure. The four-wheel drive and independent suspension system of the frame ensures strong power and strong cross-country capability of the frame, and can adapt to complex terrains. The differential 10 is arranged on the front axle and the rear axle, so that the vehicle frame can run stably when turning. The balance supporting legs 4 support the frame when the frame is rescued, and stability of rescue equipment is guaranteed.
As shown in fig. 2, the drive device 1 is composed of a reduction motor 6, a short transmission belt 7, a main transmission shaft 8, a long transmission belt 9, a differential 10, a universal joint 11, a differential output shaft 12, an adapter 13 and wheels 14; the speed reducing motor 6 is used as a power source, a main transmission shaft 8 is driven to rotate through a short transmission belt 7, the main transmission shaft transmits power to a differential mechanism 10 through a long rotating belt 9 of the main transmission shaft 8, and an output shaft 12 of the differential mechanism transmits the power to four wheels respectively to form a four-wheel drive power structure.
The universal joints 11 are arranged at the two ends of the output shaft of the differential, and the effect of independent shock absorption of each wheel can be realized by matching with a suspension system. The differential output shaft 12 is connected to the wheels 14 via couplings 13. The cross-country rescue frame four-wheel drive can be realized through the mode, so that the frame has more sufficient power, and meanwhile, the cross-country capacity of the frame is also enhanced.
As shown in fig. 3, the steering device 2 is composed of a steering gear 15, a knuckle arm tie rod 16, a knuckle arm 17, a pitman arm 18, a rocker arm tie rod 19, a steering tie rod 20, and a steering cup 21; the steering gear 15 drives the left knuckle arm 17 to rotate through the knuckle arm 16, and the left knuckle arm 17 and the left rocker arm 18 are integrated, so that when the steering gear 15 pushes and pulls the knuckle arm 17 to rotate, the left rocker arm rotates along with the left rocker arm 18.
The steering rocker arms 18 on the two sides are connected through rocker arm pull rods 19 to realize synchronous swinging, and meanwhile, the steering cup 21 is driven to swing left and right through the steering pull rod 20, so that the wheel steering function is realized. The joint of the steering cup 21, the front upper swing arm 22 and the front lower swing arm 23 is a ball head structure as shown in figure 4, and the independent shock absorption function can be realized while steering.
As shown in fig. 5, the front suspension system is composed of a front upper swing arm 22, a front lower swing arm 23, a steering cup 21, and an oil damper 24; the inner sides of the front upper swing arm 22 and the front lower swing arm 23 are hinged with the frame, the outer sides of the front upper swing arm and the front lower swing arm are in ball contact with the steering cup 21, and two ends of the oil pressure shock absorber 24 are fixedly in ball contact with the frame and the front lower swing arm respectively, so that the independent shock absorption function of the front wheel is realized.
As shown in fig. 6, the rear suspension system includes a rear lower swing arm 25, a rear swing arm rod 26, a rear wheel cup 27, and an oil damper 24; the inner sides of the rear lower swing arm 25 and the rear swing arm pull rod 26 are hinged with the frame, the outer sides of the rear lower swing arm and the rear swing arm pull rod are in ball contact with a rear wheel cup 27, and two fixed ends of the oil pressure shock absorber are in ball contact with the frame and the front lower swing arm respectively, so that the independent shock absorption function of the rear wheel is realized.
As shown in fig. 7 and 8, the balance leg is composed of a vertical telescopic gear motor 31, a horizontal telescopic gear motor 35, a lead screw 32, a lead screw nut 40, a balance leg housing 29, a gear 38, an upper rack telescopic rod 28, a lower rack telescopic rod 37, a vertical telescopic rod 33, a support leg 36, a horizontal telescopic limit switch 30, a vertical telescopic limit switch 39 and a leveling device 34.
The gear motor 35 drives the gear 38 to rotate, the gear 38 is meshed with the upper and lower rack telescopic rods 28 and 29, and the front and rear balance supporting legs 4 stretch in the horizontal direction by clockwise or anticlockwise rotation of the gear motor 35.
When the support legs extend to touch the limit switch 30, the support legs stop extending, and the support legs retract to the limit switch 30 and stop retracting. The vertical telescopic rod 33 and the screw nut 40 are mechanically connected into an integral structure, and the screw 32 is driven by the speed reducing motor 31 to rotate clockwise or anticlockwise to realize vertical extension and retraction of the balance supporting leg.
And a limit switch 39 is arranged at the limit position of the vertical extension of the supporting leg, and the supporting leg automatically stops acting when the supporting leg extends to the limit position. The leveling device 34 is integrated in the central control system, and can respectively adjust the vertical extending amount of the four supporting legs according to the current state of the vehicle body, so that the vehicle body is kept horizontal, and the stability of the rescue equipment is ensured.
The vertical telescopic rod 33 and the supporting legs 36 are connected in a ball head structure, and as shown in fig. 8, the supporting legs are more flexible and can be better adapted to complex terrains.
According to the invention, the driving device 1 and the transmission device are arranged on the side surface of the chassis, so that enough space is reserved for the chassis of the frame, and different detection and rescue equipment can be conveniently carried. Four-wheel drive, independent shock absorber, cross-country ability reinforce can get into complicated landform region and survey and rescue the task. The balance support legs 4 can provide stable support for the vehicle body, and stable work of the rescue equipment is guaranteed. The invention can carry the operation platforms with different functions according to the actual requirements of actual detection or rescue tasks. The multifunctional rescue robot has multiple purposes, the rescue process is simplified, the rescue time is saved, and the rescue efficiency is improved. The loss of personnel and property is reduced, the market blank is filled, and the market prospect is huge.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. The utility model provides a can carry on frame assembly of multiple detection rescue platform which characterized in that: comprises a chassis, a driving device, a steering device, a front suspension system, a rear suspension system and a balance leg, wherein the driving device, the steering device, the front suspension system, the rear suspension system and the balance leg are arranged on the chassis; the driving device and the transmission device are arranged on the edge of the chassis to reserve a space for placing the rescue platform; the balance support legs provide stable support for the rescue platform carried on the frame, and can horizontally or vertically stretch out and draw back, so that the rescue vehicle can be conveniently parked on uneven ground;
the driving device comprises a speed reducing motor, a short transmission belt, a main transmission shaft, a long transmission belt, a differential output shaft, a universal joint, a connector and wheels; the speed reducing motor drives the main transmission shaft to rotate through the short transmission belt, and the main transmission shaft transmits power to the differential mechanism through the long rotating belt; the differential output shaft transmits power to four wheels respectively to form a four-wheel drive power structure; universal joints are arranged at two ends of an output shaft of the differential mechanism and matched with a suspension system, and the output shaft of the differential mechanism is connected with wheels through a connector;
the steering device comprises a steering gear, a knuckle arm pull rod, a steering knuckle arm, a steering rocker arm, a rocker arm pull rod, a steering pull rod and a steering cup; the left steering knuckle arm and the left steering rocker arm are of an integrated structure, and when the steering gear pushes and pulls the steering knuckle arm to rotate, the left rocker arm rotates along with the steering knuckle arm; the steering rocker arms on the two sides are connected through rocker arm pull rods to realize synchronous swinging, and the steering cup is driven to swing left and right through the steering pull rods to further realize a steering function; the joint of the steering cup and the front upper swing arm and the front lower swing arm is of a ball head structure, and the independent shock absorption function can be realized while steering;
the balance support leg comprises a speed reducing motor, a lead screw nut, a balance support leg shell, a gear, an upper rack telescopic rod, a lower rack telescopic rod, a vertical telescopic rod, a support leg, a limit switch and a leveling device; the gear is driven by the gear motor to rotate, the gear is meshed with the upper and lower rack telescopic rods, and the front and rear balance support legs stretch out and draw back in the horizontal direction through clockwise or anticlockwise rotation of the gear motor; when the balance supporting legs extend to touch the limit switch, the supporting legs stop extending outwards, and the supporting legs retract to the limit switch and stop retracting.
2. The frame assembly capable of carrying various detection and rescue platforms according to claim 1, characterized in that: the front suspension system comprises a front upper swing arm, a front lower swing arm, a steering cup and an oil pressure shock absorber; the inner sides of the front upper swing arm and the front lower swing arm are hinged with the frame, and the outer sides of the front upper swing arm and the front lower swing arm are in contact with the steering cup ball; two fixed ends of the oil pressure shock absorber are respectively contacted with the frame and the front lower swing arm ball, thereby realizing the independent shock absorbing function of the front wheel.
3. The frame assembly capable of carrying various detection and rescue platforms according to claim 1, characterized in that: the rear suspension system comprises a rear lower swing arm, a rear swing arm pull rod, a rear wheel cup and an oil pressure shock absorber; the inner sides of the rear lower swing arm and the rear swing arm pull rod are hinged with the frame, and the outer sides of the rear lower swing arm and the rear swing arm pull rod are in contact with the rear wheel cup balls; two fixed ends of the oil pressure shock absorber are respectively contacted with the frame and the front lower swing arm ball, thereby realizing the independent shock absorbing function of the rear wheel.
4. The frame assembly capable of carrying various detection and rescue platforms according to claim 1, characterized in that: the vertical telescopic rod is connected with the screw nut into a whole, and the screw is driven by the speed reducing motor to rotate clockwise or anticlockwise so as to realize vertical telescopic of the balance supporting leg; and a limit switch is arranged at the limit position of the vertical extension of the supporting leg, and the supporting leg automatically stops acting when extending to the limit position.
5. The frame assembly capable of carrying various detection and rescue platforms according to claim 1, characterized in that: the leveling device is integrated in the central control system, and the vertical extending amount of the four supporting legs can be respectively adjusted according to the current state of the vehicle body, so that the vehicle body is kept horizontal, and the stability of the rescue equipment is ensured.
6. The frame assembly capable of carrying various detection and rescue platforms according to claim 1, characterized in that: the vertical telescopic rod is connected with the support legs in a ball head structure, so that the support legs move flexibly to adapt to complex terrains.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810178756.3A CN108466550B (en) | 2018-03-05 | 2018-03-05 | Can carry on frame assembly of multiple detection rescue platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810178756.3A CN108466550B (en) | 2018-03-05 | 2018-03-05 | Can carry on frame assembly of multiple detection rescue platform |
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| CN108466550A CN108466550A (en) | 2018-08-31 |
| CN108466550B true CN108466550B (en) | 2020-11-17 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515064A (en) * | 2018-11-29 | 2019-03-26 | 巴哈勃科技(成都)有限公司 | A kind of novel traveling wheel system |
| CN109677262A (en) * | 2019-01-23 | 2019-04-26 | 方盛车桥（柳州）有限公司 | Centralized electric drive independent suspension rear axle |
| CN110203302B (en) * | 2019-07-09 | 2023-12-15 | 王瑞 | Six-wheel all-terrain walking vehicle |
| CN110650176B (en) * | 2019-08-09 | 2022-04-26 | 江苏大学 | Special hybrid power vehicle service platform based on augmented reality technology and control method |
| CN114307015B (en) * | 2022-02-22 | 2022-06-07 | 徐工消防安全装备有限公司 | Fire engine and control method thereof |
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| US6347271B1 (en) * | 1999-09-15 | 2002-02-12 | Borgwarner Inc. | Control strategy for reducing primary drive line loads |
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| CN108466550A (en) | 2018-08-31 |
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